中文摘要：

针对目前肠道诊疗设备的驱动问题,引入一种全新的肠道诊疗设备—肠道生物机器人。利用生物体作为驱动装置,携带肠道诊疗装置进入肠道内,通过体外的控制中心遥控生物体的运动行为,实现诊疗装置在肠道内主动前进、后退和定点泊位。选取黄鳝作为肠道生物机器人的生物体,并在了解其运动控制机理的基础上,设计出刺激控制系统。该系统由刺激电极和刺激器两部分组成,其刺激电极为表面式刺激电极和植入式刺激电极;其刺激器由LabVIEW软件和数据采集卡构成。采用该系统进行体外刺激控制实验,初步获得控制黄鳝前进的方法,证实该系统的可行性。

英文摘要：

In order to address the driving problem in intestinal inspection equipment,a natural organism equipment was introduced as intestinal bio-robot.A natural organism serving as a locomotion mechanism drove the intestinal diagnostic device into intestinal tract.An exterior control unit was designed to remotely control and navigate the device such as going forward,backward and site-specific anchoring of the organism.Mud eel was chosen as the locomotion mechanism of the intestinal bio-robot.Based on its movement characteristics,a stimulation control system was designed,including stimulating electrodes and a stimulator.We designed two kinds of stimulating electrodes： surface mount micro-neural electrodes and fixed rings.The stimulator was formed based on the LabVIEW and data acquisition boards.Experiments revealed the method for the system to control the mud eel to move forward by in vitro simulations.The preliminary findings support the feasibility of the way using natural organism as a locomotion mechanism.